28th Congress of the International Council of the Aeronautical Sciences, 23 - 28 September 2012, Brisbane, Australia
Paper ICAS 2012-1.8.1

A HIGHLY EXPANDABLE LOW-COST OPEN-SOURCE UAV SYSTEM WITH HIGH ON-BOARD PROCESSING POWER

M. Kmiecik, K. Sibilski, W. Wroblewski
Wroclaw Univ. of Technology, Poland

Keywords: uav, autopilot, open-source, ros, slam

The paper addresses a low-cost open-source UAV system's design. It's performance is presented on an example of a SLAM algorithm's implementation. It utilizes an open-source, open-hardware quadrotor platform, a laser rangefinder, and ROS operating system installed on an ARM on-board computer. System's architecture, simulation and flight results will be presented.

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